IROS 2023: Minimally actuated tiltrotor for perching and normal force exertion
Dongjae Lee, Sunwoo Hwang, Changhyeon Kim, Seung Jae Lee and H. Jin Kim Abstract: This study presents a new hardware design and control of a minimally actuated 5 control degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses several characteristics distinct from those found in existing works, including: 1) minimal number of actuators for 5 CDoF, 2) large margin to generate interaction force during aerial physical interaction (APhI), and 3) no mechanical obstru...